CN108058187B - Arm structure and conveying device - Google Patents

Arm structure and conveying device Download PDF

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Publication number
CN108058187B
CN108058187B CN201711083045.XA CN201711083045A CN108058187B CN 108058187 B CN108058187 B CN 108058187B CN 201711083045 A CN201711083045 A CN 201711083045A CN 108058187 B CN108058187 B CN 108058187B
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China
Prior art keywords
link
rotation
end side
rotation shaft
spring
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CN108058187A (en
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杉户龙士
坂本慎
森田寿郎
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Toshiba Corp
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Toshiba Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/16—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types with a driving or driven member which both rotates or oscillates on its axis and reciprocates
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H2037/128—Generating reciprocating motion by a planetary gear (ratio 2:1) using endless flexible members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

An embodiment relates to an arm structure and a conveying device, wherein the arm structure is provided with a base, a 1 st connecting rod, a 2 nd connecting rod, a connecting component and a gravity compensation mechanism. The 1 st link is rotatable in the vertical direction. One end side of the 1 st link is pivotally connected to the base via the 1 st rotation shaft. The 2 nd link is rotatable in the vertical direction. One end side of the 2 nd link is pivotally connected to the other end side of the 1 st link via a 2 nd rotation shaft. The length of the 2 nd connecting rod is the same as that of the 1 st connecting rod. The connecting member connects the 1 st rotating shaft and the 2 nd rotating shaft. When the 1 st link rotates about the 1 st rotation axis, the 2 nd link rotates about the 2 nd rotation axis. The rotation angle of the 2 nd link is 2 times of the rotation angle of the 1 st link. The rotation direction of the 2 nd link is opposite to that of the 1 st link. The gravity compensation mechanism is connected with the base and the 1 st connecting rod. The gravity compensation mechanism compensates for the torque generated around the 1 st rotation axis due to gravity.

Description

Arm structure and conveying device
The present application is based on Japanese patent application 2016-. This application incorporates by reference the entirety of this application.
Technical Field
Embodiments of the present invention generally relate to an arm structure and a conveying device.
Background
There are arm configurations provided with a gravity compensation mechanism. The gravity compensation mechanism compensates for a torque generated around the rotation axis of the connecting rod due to gravity. By providing the gravity compensation mechanism, the output of the motor that drives the link can be reduced. The motor and the arm structure can be miniaturized.
In the arm structure provided with such a gravity compensation mechanism, further reduction in output of the motor is desired.
Disclosure of Invention
An arm structure according to an embodiment of the present invention includes a base, a 1 st link, a 2 nd link, a connecting member, and a gravity compensation mechanism. The 1 st link is rotatable in the vertical direction. One end side of the 1 st link is pivotally connected to the base via a 1 st pivot shaft. The 2 nd link is rotatable in the vertical direction. One end side of the 2 nd link is pivotally connected to the other end side of the 1 st link via a 2 nd pivot shaft. The length of the 2 nd connecting rod is the same as that of the 1 st connecting rod. The connecting member connects the 1 st rotating shaft and the 2 nd rotating shaft. When the 1 st link rotates about the 1 st rotation axis, the 2 nd link rotates about the 2 nd rotation axis. The rotation angle of the 2 nd link is 2 times of the rotation angle of the 1 st link. The rotation direction of the 2 nd link is opposite to the rotation direction of the 1 st link. The gravity compensation mechanism is connected to the base and the 1 st link. The gravity compensation mechanism compensates for a torque generated around the 1 st rotation axis due to gravity.
Drawings
Fig. 1 is a schematic view showing an arm structure according to embodiment 1.
Fig. 2 is a schematic diagram showing a case where the 1 st link of the arm structure according to embodiment 1 is rotated.
Fig. 3(a) is an enlarged schematic view of the vicinity of the gravity compensation mechanism of the arm structure according to embodiment 1. Fig. 3(b) is a schematic view showing a state where the arm structure according to embodiment 1 holds an object.
Fig. 4 is a schematic view showing the arm structure according to embodiment 2.
Fig. 5 is a schematic view showing the arm structure according to embodiment 3.
Fig. 6 is a schematic view showing an arm structure according to embodiment 4.
Fig. 7 is a schematic view showing a state where the arm structure according to embodiment 4 holds an object.
Fig. 8 is a perspective view showing an arm structure according to embodiment 5.
Fig. 9 is a perspective view showing the conveying device according to embodiment 6.
Detailed Description
Embodiments of the present invention will be described below with reference to the drawings.
The drawings are schematic or conceptual drawings, and the relationship between the thickness and the width of each part, the ratio of the size between the parts, and the like are not necessarily limited to be the same as actual ones. Even when the same portions are shown, the dimensions and proportions thereof may be shown differently in accordance with the drawings.
In the present specification and the drawings, the same elements as those already described are denoted by the same reference numerals, and detailed description thereof will be omitted as appropriate.
(embodiment 1)
Fig. 1 is a schematic diagram showing an arm structure 100 according to embodiment 1.
Fig. 2(a) to 2(c) are schematic views showing a case where the 1 st link 12 included in the arm structure 100 according to embodiment 1 is rotated.
As shown in fig. 1, the arm structure 100 includes a base 10, a 1 st link 12, a 2 nd link 14, a coupling member 16, and a gravity compensation mechanism 30.
One end side of the 1 st link 12 is pivotally connected to the base 10 via a rotary shaft 41 (1 st rotary shaft). One end side of the 2 nd link 14 is pivotally connected to the other end side of the 1 st link 12 via a rotation shaft 42 (2 nd rotation shaft). That is, the 1 st link 12 and the 2 nd link 14 are connected in series.
The 1 st link 12 and the 2 nd link 14 are provided to be rotatable in the vertical direction. The length of the 1 st link 12 is equal to the length of the 2 nd link 14. The other end side of the 2 nd link 14 is provided with, for example, a rotary shaft 45 (5 th rotary shaft). The robot hand not shown is pivotally connected to the 2 nd link 14 via the rotating shaft 45.
In the present specification, "pivotally connected" means that a certain member is rotatably connected to another member. The length of the 1 st link 12 is a distance between the rotation center of the rotation shaft 41 and the rotation center of the rotation shaft 42. The length of the 2 nd link 14 is a distance between the rotation center of the rotation shaft 42 and the rotation center of the rotation shaft 45.
A motor, not shown, is coupled to the rotating shaft 41. The motor rotates the rotation shaft 41, whereby the 1 st link 12 rotates in the vertical direction with respect to the base 10.
The rotating shaft 41 and the rotating shaft 42 are coupled by the coupling member 16 so as to rotate in the same direction. For example, pulleys are provided on the rotary shaft 41 and the rotary shaft 42. A belt or a chain as the coupling member 16 is attached to these pulleys. Thereby, the rotation shaft 41 and the rotation shaft 42 are coupled.
When the pulleys are provided on the rotary shaft 41 and the rotary shaft 42, the diameter of the pulley of the rotary shaft 41 is set to be 2 times the diameter of the pulley of the rotary shaft 42. These rotating shafts are coupled by a coupling member 16. According to this configuration, when the 1 st link 12 rotates about the rotation shaft 41, the 2 nd link 14 rotates about the rotation shaft 42. The 2 nd link 14 rotates in the opposite direction to the 1 st link 12. The rotation angle of the 2 nd link 14 is 2 times the rotation angle of the 1 st link 12.
As the coupling member 16, a rod or the like may be connected to the rotary shaft 41 and the rotary shaft 42. In order to enlarge the movable range of the 1 st link 12 with respect to the base 10, an annular member such as a belt or a chain is preferably used as the coupling member 16.
The 1 st link 12 and the 2 nd link 14 have the same length, and the rotation angle of the 1 st link 12 is 2 times the rotation angle of the 2 nd link 14, and their rotation axes are connected. According to this configuration, as shown in fig. 2(a) to 2(c), when the 1 st link 12 is rotated about the rotation shaft 41, the other end side (the rotation shaft 45) of the 2 nd link 14 moves in the horizontal direction in accordance with the rotation of the 1 st link 12.
The gravity compensation mechanism 30 is coupled to the base 10 and the 1 st link 12. The gravity compensation mechanism 30 compensates for the torque generated around the rotation shaft 41 due to gravity. As shown in fig. 1, the gravity compensation mechanism 30 has a guide 31, a lever 32, a spring holder portion 33, and a spring 34.
The guide 31 is pivotally connected to the base 10 via a rotation shaft 43 (3 rd rotation shaft). The rotation shaft 43 is located below the rotation shaft 41. A rod 32 is inserted inside the guide 31.
The rod 32 is supported by the guide 31 (the rotary shaft 43) so as to be movable in the axial direction of the rod 32. One end side of the lever 32 is pivotally connected to one end side of the 1 st link 12 via a rotating shaft 44 (4 th rotating shaft). The rotation shaft 44 is located above the guide 31. The rotation shaft 44 is provided on one end side of the 1 st link 12 with respect to the rotation shaft 41. That is, the rotation shaft 41 is located between the rotation shaft 42 and the rotation shaft 44.
The spring holder portion 33 is provided on the other end side of the lever 32. The spring 34 is disposed between the guide 31 and the spring holder portion 33. Both ends of the spring 34 are in contact with the guide 31 and the spring holder portion 33. When the 1 st link 12 is inclined with respect to the vertical direction, the spring 34 is in a compressed state.
For example, the 1 st link 12 rotates counterclockwise about the rotation shaft 41. At this time, as shown in fig. 2(a) to 2(c), the position of the rotary shaft 44 changes, and the lever 32 rotates clockwise. The rod 32 slides downward with respect to the guide 31. This increases the distance between the guide 31 and the spring holder 33, and reduces the elastic force of the spring 34.
For example, the 1 st link 12 rotates clockwise around the rotation shaft 41. At this time, the distance between the guide 31 and the spring holder 33 becomes short, and the elastic force of the spring 34 becomes large.
In this way, the gravity compensation mechanism 30 utilizes the change in the elastic force of the spring 34 accompanying the rotation of the 1 st link 12. Thereby, the gravity compensation mechanism 30 compensates for the torque generated around the rotation shaft 41 due to the gravity.
The gravity compensation of the arm structure 100 according to the embodiment will be described in more detail with reference to fig. 3.
Fig. 3(a) is an enlarged schematic view of the vicinity of the gravity compensation mechanism 30 of the arm structure 100 according to embodiment 1. Fig. 3(b) is a schematic view showing a state in which the arm structure 100 according to embodiment 1 holds an object.
In fig. 3(a), h is the distance between the rotation axis 41 and the rotation axis 43. p is the distance between the rotation axis 41 and the rotation axis 44. x is the distance between the rotation axis 43 and the rotation axis 44. θ is the inclination of the 1 st link 12 with respect to the horizontal direction. Ψ is the angle between link 1 and lever 32. In this example, the natural length of the spring is equal to the distance between the rotational axis 44 and the spring support portion 33. That is, in the example shown in fig. 3(a), the spring is compressed from a natural length by a distance x.
In this case, the following equation (1) is generated in the counterclockwise direction around the rotation shaft 41 by the gravity compensation mechanism 30) Indicated torque Ts。
TS＝pkxsinΨ＝hpkcosθ (1)
In FIG. 3(b), L1Is the length of the 1 st link 12. L is2Is the length of the 2 nd link 14. D1Is a distance between the rotation center of the rotation shaft 41 and the center of gravity of the 1 st link 12. D2Is a distance between the rotation center of the rotation shaft 42 and the center of gravity of the 2 nd link 14. m is1Is the weight of the 1 st link 12. m is2Is the weight of the 2 nd link 14. The load m is held by the other end of the 2 nd link 143The object of (1). r is1Is the diameter of the pulley provided on the rotating shaft 41. r is2Is the diameter of the pulley provided on the rotating shaft 42. g is the acceleration of gravity.
In this case, a torque T represented by the following expression (2) is generated in the counterclockwise direction around the rotation shaft 41m。
Figure GDA0002939001490000051
When r is substituted into the formula (2)1＝2r2、L1＝L2When L is exceeded, the following formula (3) is obtained.
Tm＝m1gD1cosθ+m2g(L1+D2)cosθ+2m3gLcosθ-2m2gD2cosθ-2m3gLcosθ (3)
To the right of equation (3), the sum of terms 3 and 5 is 0. Therefore, the formula (3) is represented by the following formula (4).
Tm＝{m1gD1+m2g(L-D2)}cosθ (4)
At a torque T represented by the formula (1)sAnd a torque T represented by the formula (4)mIn the case of equality, the torque generated around the rotation axis 41 due to gravity is balanced with the torque generated around the rotation axis 41 by the gravity compensation mechanism 30. As can be seen from equations (1) and (4), when the spring constant k of the spring 34 is equation (5) below, a balance between the two torques can be obtained.
Figure GDA0002939001490000052
The operation and effect of the arm structure 100 according to embodiment 1 will be described.
As described above, the arm structure 100 according to the present embodiment includes the 1 st link 12, the 2 nd link 14, the connecting member 16, and the gravity compensation mechanism 30. The 1 st link 12 and the 2 nd link 14 are rotated in the vertical direction with respect to the base 10.
When the 1 st link 12 and the 2 nd link 14 rotate in the horizontal direction, a connection portion of the 1 st link 12 and the 2 nd link 14 protrudes in the horizontal direction. Therefore, the area required for the operation of the arm structure 100 becomes large.
In the arm structure 100 according to the present embodiment, the 1 st link 12 and the 2 nd link 14 rotate in the vertical direction. Therefore, the connection portion of the 1 st link 12 and the 2 nd link 14 does not protrude in the horizontal direction. The area required for the action of the arm construction 100 can be reduced.
The rotating shaft 41 and the rotating shaft 42 are coupled by a coupling member 16. Thus, when the 1 st link 12 rotates about the rotation shaft 41, the 2 nd link 14 rotates about the rotation shaft 42 in the opposite direction. According to the configuration in which the rotation angle of the 2 nd link 14 is 2 times the rotation angle of the 1 st link 12, the torque T generated from the rotation shaft 41 is expressed by equations (2) and (3)mExcluding the load m including the object held by the 2 nd link 143The item (1).
According to the present embodiment, the area required for the operation of the arm structure 100 can be reduced, and the torque generated by the load of the object can be mechanically compensated. By compensating the torque generated by the load of the object in the mechanism, the link can be operated by the motor having a lower output. The reduction in power consumption and the downsizing of the arm structure 100 can be achieved.
Since the rotary shaft 41 and the rotary shaft 42 are coupled, the torque generated around the rotary shaft 42 can be compensated for by the gravity compensation mechanism 30. Therefore, it is not necessary to provide a separate gravity compensation mechanism for compensating for the torque generated around the rotation shaft 42. From this point, the arm structure 100 can also be miniaturized.
Further, it is preferable to provide a spring 34 for the gravity compensation mechanism having a spring constant k represented by formula (4). This makes it possible to balance the torque generated by the elastic force of the spring 34 with the torque generated by gravity. That is, the torque generated around the rotation shaft 41 due to gravity can be completely compensated for regardless of the angle θ. Therefore, the output of the motor required for the operation of the link can be further reduced, and the arm structure 100 can be further downsized.
(embodiment 2)
Fig. 4 is a schematic diagram showing an arm structure 200 according to embodiment 2.
In the arm structure 200 according to the present embodiment, the position of the gravity compensation mechanism 30 is different from that of the arm structure 100.
In the arm structure 200, the gravity compensation mechanism 30 is provided above the rotation shaft 41. That is, the guide 31 and the rotary shaft 43 are positioned above the rotary shaft 41 on the base 10. The lever 32 is pivotally connected to the 1 st link 12 via a rotating shaft 44. The rotation shaft 44 is located below the guide 31. The rotation shaft 44 is located between the rotation shaft 41 and the rotation shaft 42.
The arm structure 200 is the same as the arm structure 100 except for the gravity compensation mechanism 30. When the 1 st link 12 rotates about the rotation shaft 41, the 2 nd link 14 rotates about the rotation shaft 42 in the opposite direction. At this time, the rotation angle of the 2 nd link 14 is 2 times the rotation angle of the 1 st link 12.
According to the present embodiment, as in embodiment 1, it is possible to mechanically compensate for a torque generated by a load of an object. Therefore, each link can be operated by a motor having a lower output. The arm structure 200 can be miniaturized.
As in embodiment 1, by using the spring 34 having the spring constant k represented by equation (5), the torque generated around the rotation shaft 41 can be compensated regardless of the angle θ.
(embodiment 3)
Fig. 5 is a schematic diagram showing an arm structure 300 according to embodiment 3.
The arm structure 300 differs from the arm structure 100 in that a gravity compensation mechanism 50 is included instead of the gravity compensation mechanism 30.
Specifically, the gravity compensation mechanism 50 of the arm configuration 300 has a wire 51, a spring 52, and a pulley 53. One end of the wire 51 is connected to the base 10 above the rotary shaft 41. One end of the spring 52 is coupled to the 1 st link 12 between the rotary shaft 41 and the rotary shaft 42. The other end of the wire 51 is connected to the other end of the spring 52.
The pulley 53 is provided on the 1 st link 12. The pulley 53 is located between the rotary shaft 41 and the rotary shaft 42. The wire 51 is connected to a pulley 53. The extending direction of the wire 51 changes on the pulley 53. That is, one end side of the wire 51 extends in a direction intersecting the longitudinal direction of the 1 st link 12. The other end side of the wire 51 extends along the longitudinal direction of the 1 st link 12.
In the arm structure 300 according to the present embodiment, as in embodiment 1, it is possible to mechanically compensate for the torque generated by the load of the object. The arm structure 300 can be miniaturized.
As in embodiment 1, by using the spring 52 having the spring constant k represented by equation (5), the torque generated around the rotation shaft 41 can be compensated regardless of the angle θ.
(embodiment 4)
Fig. 6 is a schematic diagram showing an arm structure 400 according to embodiment 4.
Fig. 7 is a schematic diagram showing a state in which the arm structure 400 according to embodiment 4 holds an object.
In comparison to the arm configuration 100, the arm configuration 400 further includes a 3 rd link 18, a 4 th link 20, a coupling member 22, and a coupling member 24.
One end side of the 3 rd link 18 is pivotally connected to the other end side of the 2 nd link 14 via a rotating shaft 45. One end side of the 4 th link 20 is pivotally connected to the other end side of the 3 rd link 18 via a rotation shaft 46. The other end side of the 4 th link 20 is provided with, for example, a rotation shaft 47 to which a robot hand is pivotally connected. The 3 rd link 18 and the 4 th link 20 have the same length as the 1 st link 12 and the 2 nd link 14, respectively.
The length of the 3 rd link 18 means a distance between the rotation axis 45 and the rotation axis 46. The length of the 4 th link 20 means a distance between the rotation axis 46 and the rotation axis 47.
The rotating shaft 42 and the rotating shaft 45 are coupled by the coupling member 22. The rotating shaft 45 and the rotating shaft 46 are coupled by the coupling member 24. Therefore, when the 1 st link 12 rotates about the rotation shaft 41, the 2 nd link 14 and the 4 th link 20 rotate in the opposite direction to the 1 st link 12. The 3 rd link 18 rotates in the same direction as the 1 st link 12. The rotation angle of each of the 2 nd link 14, the 3 rd link 18, and the 4 th link 20 when the 1 st link 12 is rotated is 2 times the rotation angle of the 1 st link 12.
The torque generated around the rotation shaft 41 in the arm structure 400 will be described with reference to fig. 7.
m3Is the weight of the 3 rd link 18. m is4Is the weight of the 4 th link 20. The load m is held by the other end of the 4 th link 205The object of (1). D3Is the distance between the rotation axis 45 and the center of gravity of the 3 rd link 18. D4Is the distance between the rotation axis 46 and the center of gravity of the 4 th link 20.
Each link has the same length, and the diameter of the pulley provided on the rotating shaft 41 is 2 times the diameter of the pulley provided on the other rotating shaft. In this case, the torque T generated around the rotation shaft 41 due to gravitymRepresented by the following formula (6).
Tm＝{m1gD1+m2g(L-D2)+m3gD3+m4g(L-D4)}cosθ (6)
The formula (6) does not include the load m5. When the other links are connected in series with the 2 nd link 14, the adjacent rotation shafts are connected to each other, and the length of each link and the amount of rotation of each link can be adjusted. This makes it possible to compensate for the load m on the mechanism due to the object being held5The resulting torque.
By using the spring 34 for the gravity compensation mechanism having the spring constant k represented by the following expression (7), the torque T represented by the expression (6) can be completely compensated form。
Figure GDA0002939001490000091
In front of the 4 th link 20, another link may be connected in series.
For example, i (i is an integer of 1 or more) links are connected in series. The lengths of the respective links are equal to each other. The diameter of the pulley provided on the rotating shaft 41 is 2 times the diameter of the pulley provided on the other rotating shaft.
In this case, the torque T generated around the rotation shaft 41 due to gravitymRepresented by the following formula (8).
Figure GDA0002939001490000092
By using the spring 34 for the gravity compensation mechanism having the spring constant represented by the following expression (9), the torque T represented by the expression (8) can be completely compensated form。
Figure GDA0002939001490000093
In this manner, an even number of links greater than 2 may be connected in series. It is possible to compensate mechanically for the load m due to the object being held5And the generated torque can be compensated for by the gravity compensation mechanism 30 around the rotation shaft 41.
In the above example, a case where a plurality of links are further connected to the arm structure 100 according to embodiment 1 is described. Similarly, in the arm structure according to embodiment 2 or embodiment 3, a plurality of links can be further connected.
(embodiment 5)
Fig. 8 is a perspective view showing an arm structure 500 according to embodiment 5.
In contrast to the arm configuration 100, the arm configuration 500 further includes a coupling member 22 and a hand 26.
The hand 26 is pivotally connected to the other end side of the 2 nd link 14 via a rotating shaft 45. The hand 26 has a pair of claws. The hand 26 varies the distance between the jaws. This makes it possible to clamp and lift an object or place an object at a predetermined place.
The shape and structure of the hand 26 can be appropriately changed in accordance with the shape, load, and the like of the object held by the arm structure 500.
The coupling member 22 couples the rotary shaft 42 and the rotary shaft 45. When the rotation shaft 42 is rotated in the vertical direction, the rotation angle of the rotation shaft 45 is the same direction as the rotation angle of the rotation shaft 42. The rotation angle of the rotation shaft 45 is 1/2 times the rotation angle of the rotation shaft 42. With this configuration, even when the 1 st link 12 is rotated, the inclination of the hand 26 pivotally connected to the rotation shaft 45 does not change. Therefore, the object can be stably held by the hand 26.
In the above example, the case where the coupling member 22 and the hand 26 are provided to the arm structure 100 according to embodiment 1 is described. The coupling member 22 and the hand 26 can be similarly provided to the arm structure according to embodiment 2 or embodiment 3.
(embodiment 6)
Fig. 9 is a perspective view showing a conveying device 600 according to embodiment 6.
The transfer device 600 includes an arm structure 500 and an automated guided vehicle 60. The automated guided vehicle automatically travels along a track laid on the ground. The automated guided vehicle 60 has an elevating table 62. The automated guided vehicle 60 drives the elevation table 62 in the vertical direction, thereby changing the position of the hand 26 in the vertical direction.
In this manner, the arm structure according to any of the embodiments is mounted on the automated guided vehicle 60 to configure the conveying device 600, thereby making it possible to reduce the size of the conveying device 600.
Although the embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various ways, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the scope equivalent thereto. The above embodiments can be combined with each other.

Claims (10)

1. An arm structure is provided with:
a base station;
a 1 st link rotatable in a vertical direction, one end side of the 1 st link being pivotally connected to the base via a 1 st rotation shaft;
a 2 nd link rotatable in a vertical direction, one end side of the 2 nd link being pivotally connected to the other end side of the 1 st link via a 2 nd rotation shaft, a length of the 2 nd link being the same as a length of the 1 st link;
a coupling member that couples the 1 st rotation shaft and the 2 nd rotation shaft so that the 2 nd link rotates about the 2 nd rotation shaft in response to rotation of the 1 st link about the 1 st rotation shaft, a rotation angle of the 2 nd link is 2 times the rotation angle of the 1 st link, and a rotation direction of the 2 nd link is opposite to the rotation direction of the 1 st link; and
a gravity compensation mechanism coupled to the base and the 1 st link, the gravity compensation mechanism compensating for a torque generated around the 1 st rotation axis due to gravity,
when the 1 st link is rotated about the 1 st rotation axis, the other end side of the 2 nd link moves in the horizontal direction in accordance with the rotation of the 1 st link.
2. The arm construction of claim 1,
the gravity compensation mechanism includes:
a guide member pivotally connected to the base via a 3 rd rotation shaft positioned below the 1 st rotation shaft;
a lever supported by the guide, the lever being slidable with respect to the guide, one end side of the lever being pivotally connected to the one end side of the 1 st link via a 4 th rotating shaft located above the guide, the 1 st rotating shaft being located between the 2 nd rotating shaft and the 4 th rotating shaft, the lever moving in an axial direction of the lever in accordance with rotation of the 1 st link;
a spring holder portion provided on the other end side of the rod; and
and a spring provided between the guide and the spring holder, the spring generating an elastic force balanced with the torque by changing a length of the spring according to the axial movement of the rod.
3. The arm construction of claim 2,
weight m of the 1 st link1The weight m of the 2 nd link2A length L of each of the 1 st link and the 2 nd link, and a distance D between the 1 st rotation axis and a center of gravity of the 1 st link1And a distance D between the 2 nd rotation axis and the center of gravity of the 2 nd link2The gravitational acceleration g, the spring constant k of the spring, the distance h between the 1 st and 3 rd rotation axes, and the distance p between the 1 st and 4 th rotation axes satisfy the following relationships:
Figure FDA0003110246440000021
4. the arm construction of claim 1,
the gravity compensation mechanism includes:
a guide member pivotally connected to the base via a 3 rd rotation shaft located above the 1 st rotation shaft;
a lever supported by the guide, the lever being slidable with respect to the guide, one end side of the lever being pivotally connected to the 1 st link via a 4 th rotation shaft located below the guide, the 4 th rotation shaft being located between the 1 st rotation shaft and the 2 nd rotation shaft, the lever moving in an axial direction of the lever in accordance with rotation of the 1 st link;
a spring holder portion provided on the other end side of the rod; and
and a spring provided between the guide and the spring holder, the spring generating an elastic force balanced with the torque by changing a length of the spring according to the axial movement of the rod.
5. The arm construction of claim 4,
weight m of the 1 st link1The weight m of the 2 nd link2A length L of each of the 1 st link and the 2 nd link, and a distance D between the 1 st rotation axis and a center of gravity of the 1 st link1And a distance D between the 2 nd rotation axis and the center of gravity of the 2 nd link2The gravitational acceleration g, the spring constant k of the spring, the distance h between the 1 st and 3 rd rotation axes, and the distance p between the 1 st and 4 th rotation axes satisfy the following relationships:
Figure FDA0003110246440000031
6. the arm construction of any one of claims 1 to 5,
when the 1 st link rotates about the 1 st rotation axis, the other end side of the 2 nd link moves in a horizontal direction.
7. The arm construction of any one of claims 1 to 5,
the other end side of the 2 nd connecting rod is also provided with a hand which is pivoted by a 5 th rotating shaft,
when the 1 st link rotates about the 1 st rotation axis, the hand moves in a horizontal direction.
8. The arm construction of any one of claims 1 to 7,
the connecting member is annular.
9. The arm construction of any one of claims 1 to 8,
the arm structure further includes:
a 1 st pulley provided on the 1 st rotating shaft; and
a 2 nd pulley provided on the 2 nd rotating shaft,
the connecting component is a belt or a chain,
the connecting member connects the 1 st pulley and the 2 nd pulley.
10. A conveyance device is provided with:
an automated guided vehicle; and
the arm structure according to any one of claims 1 to 9 mounted on the automated guided vehicle.
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